Method, device and readable storage medium for adjusting laser radar

Abstract

The present application provides a method, device and readable storage medium for adjusting a laser radar, the method comprising: for each scanning angle in each of the lasers, optically encoding the laser beam of the laser based on a first optical coding frequency within a preset time length, emitting the laser beam through the laser, and obtaining an echo signal set by receiving an echo signal; adjusting the optical coding frequency from the first optical coding frequency to a second optical coding frequency according to the frequency of occurrence of interference signals in the echo signal set, the second optical coding frequency being greater than or less than the first optical coding frequency; optically encoding the laser beam of the laser based on the second optical coding frequency, emitting the laser beam through the laser, and adjusting the optical coding frequency of the laser according to environmental conditions, thereby ensuring the anti-interference capability of the laser radar, reducing unnecessary loss of the laser radar, avoiding excessive power consumption of the laser radar, reducing the overall temperature of the laser radar, and improving the performance and service life of the laser radar.

Description

Technical Field

[0001] The present application belongs to the field of radar technology, and in particular relates to a method, device and readable storage medium for adjusting a laser radar. Background Art

[0002] Currently, lidar ranging involves the radar transmitter system activating its optical encoding function to emit a signal. After being reflected by the target, the receiving system collects the signal and measures the duration of the reflected light to determine the target's distance. However, this lidar ranging method consistently encodes the emitted laser beam at a fixed optical encoding frequency regardless of the surrounding environment. This can cause unnecessary wear and tear on the radar system, resulting in excessive power consumption and a reduced service life. Summary of the Invention

[0003] The embodiments of the present application provide a method, device, and readable storage medium for adjusting a laser radar, which can solve the problems of a short service life and excessive power consumption of the laser radar.

[0004] In a first aspect, an embodiment of the present application provides a method for adjusting a laser radar, wherein the laser radar includes at least one laser, including:

[0005] For each scanning angle of each laser, optically encode the laser beam of the laser based on the first optical coding frequency within a preset time period, and after the laser beam is emitted by the laser, receive the echo signal to obtain an echo signal set;

[0006] adjusting an optical coding frequency from a first optical coding frequency to a second optical coding frequency according to an occurrence frequency of an interference signal in the echo signal set, wherein the second optical coding frequency is greater than or less than the first optical coding frequency;

[0007] The laser beam of the laser is optically encoded based on the second optical encoding frequency and emitted by the laser.

[0008] Furthermore, adjusting the optical coding frequency from the first optical coding frequency to the second optical coding frequency according to the occurrence frequency of the interference signal in the echo signal set includes:

[0009] If an interference signal is identified in the echo signal set, identifying the interference signal to obtain at least one interference signal identification information;

[0010] Calculating the occurrence frequency of the interference signal according to the interference signal identification information;

[0011] If the frequency of occurrence of the interference signal is greater than or equal to the first preset frequency, increasing the optical coding frequency by a preset increment to adjust to the second optical coding frequency;

[0012] If the occurrence frequency of the interference signal is less than or equal to the second preset frequency, the optical coding frequency is reduced according to a preset reduction number to adjust to the second optical coding frequency.

[0013] Furthermore, the calculating the occurrence frequency of the interference signal according to the interference signal identification information includes:

[0014] Calculating the number of occurrences of the interference signal according to the interference signal identification information;

[0015] Calculating the frequency of occurrence of the interference signal according to the number of occurrences of the interference signal and the number of optical coding ranging of the laser;

[0016] The number of optical coding ranging times of the laser is the number of times the laser performs ranging through the optical coding laser beam within a preset time period.

[0017] Furthermore, the method further comprises:

[0018] For each echo signal in the echo signal set, if no peak value of the echo signal is detected, identifying a sampling point in the echo signal whose sampling value is greater than a preset threshold;

[0019] Fitting the sampling points whose sampling values ​​are greater than a preset threshold to obtain an echo signal containing a peak value;

[0020] Calculating the peak time according to the echo signal containing the peak;

[0021] The distance corresponding to the echo signal containing the peak is calculated according to the peak time.

[0022] In a second aspect, an embodiment of the present application provides a device for adjusting a laser radar, comprising:

[0023] an optical coding module, configured to optically encode the laser beam of each laser based on a first optical coding frequency within a preset time period for each scanning angle of each laser;

[0024] for optically encoding a laser beam of the laser based on a second optical coding frequency;

[0025] a transmitting unit, configured to transmit a laser beam;

[0026] an acquisition unit, configured to receive an echo signal to obtain an echo signal set;

[0027] The optical coding strategy unit is configured to adjust the optical coding frequency from a first optical coding frequency to a second optical coding frequency according to the occurrence frequency of the interference signal in the echo signal set, where the second optical coding frequency is greater than or less than the first optical coding frequency.

[0028] Furthermore, the optical coding strategy unit is specifically configured to identify an interference signal if an interference signal is identified in the echo signal set, and obtain at least one interference signal identification information;

[0029] Specifically used to calculate the occurrence frequency of the interference signal according to the interference signal identification information;

[0030] Specifically configured to increase the optical coding frequency by a preset increment to adjust to the second optical coding frequency if the occurrence frequency of the interference signal is greater than or equal to the first preset frequency;

[0031] Specifically, if the occurrence frequency of the interference signal is less than or equal to a second preset frequency, the optical coding frequency is reduced according to a preset reduction number to adjust to the second optical coding frequency.

[0032] Furthermore, the optical coding strategy unit is specifically configured to calculate the number of occurrences of the interference signal according to the interference signal identification information;

[0033] Specifically used to calculate the frequency of occurrence of the interference signal according to the number of occurrences of the interference signal and the number of optical coding ranging of the laser;

[0034] The number of optical coding ranging times of the laser is the number of times the laser performs ranging through the optical coding laser beam within a preset time period.

[0035] Furthermore, the device further comprises:

[0036] a peak fitting unit, configured to, for each echo signal in the echo signal set, identify a sampling point in the echo signal having a sampling value greater than a preset threshold if no peak value of the echo signal is detected;

[0037] Used to fit the sampling points whose sampling values ​​are greater than a preset threshold to obtain an echo signal containing a peak;

[0038] a distance calculation unit, configured to calculate a peak time based on the echo signal containing a peak;

[0039] Used to calculate the distance corresponding to the echo signal containing the peak according to the peak time.

[0040] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of the first aspects above is implemented.

[0041] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described in any one of the above-mentioned first aspects is implemented.

[0042] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on an electronic device, enables the electronic device to execute any one of the methods described in the first aspect above.

[0043] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0044] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0045] The embodiment of the present application performs optical encoding on the laser beam of the laser based on the first optical coding frequency within a preset time period for each scanning angle of each of the lasers, and after the laser beam is emitted by the laser, an echo signal is received to obtain an echo signal set; according to the frequency of occurrence of interference signals in the echo signal set, the optical coding frequency is adjusted from the first optical coding frequency to a second optical coding frequency, and the second optical coding frequency is greater than or less than the first optical coding frequency; the laser beam of the laser is optically encoded based on the second optical coding frequency, and the laser beam is emitted by the laser, so that the optical coding frequency of the laser can be adjusted in time according to the environmental conditions, while ensuring the anti-interference capability of the laser radar, reducing unnecessary loss of the laser radar, avoiding excessive power consumption of the laser radar, and reducing the overall temperature of the laser radar, thereby improving the performance and service life of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0047] Figure 1 This is a flowchart of a method for adjusting a laser radar provided in one embodiment of the present application;

[0048] Figure 2 is a flowchart of a method for adjusting a laser radar provided in another embodiment of the present application;

[0049] Figure 3 Schematic diagram of the structure of the device for adjusting the laser radar provided in an embodiment of the present application;

[0050] Figure 4 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0052] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0053] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0054] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0055] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0056] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0057] Figure 1 FIG2 is a flow chart of a method for adjusting a laser radar provided in an embodiment of the present application. As an example and not a limitation, the method is applied to a laser radar, which includes at least one laser.

[0058] like Figure 1 As shown, the method includes:

[0059] S101: For each scanning angle of each laser, optically encode the laser beam of the laser based on a first optical coding frequency within a preset time period, and after the laser beam is emitted, receive an echo signal to obtain an echo signal set.

[0060] Among them, the preset duration can be set according to the actual usage scenario and hardware.

[0061] Specifically, for each laser, at each scanning angle in a laser, within a preset time length, the laser beam of the laser is time-encoded or energy-encoded based on a first optical coding frequency to achieve optical coding of the laser beam, wherein the laser beam emitted by the laser includes a laser beam that has not been optically encoded and an optically encoded laser beam, that is, an optically encoded laser beam; then, the optically encoded laser beam and the laser beam that has not been optically encoded are emitted by the laser; then, after emitting the laser beam, an echo signal is received, and the echo signal within the preset time length is obtained to obtain an echo signal set.

[0062] The echo signal set includes an echo signal corresponding to the laser beam emitted by the laser, or includes an echo signal corresponding to the laser beam emitted by the laser and an interference signal caused by the external environment.

[0063] For example, the interference signal is an echo signal corresponding to a laser beam emitted by another laser.

[0064] For example, ranging is achieved by emitting a laser beam and receiving an echo signal. If m distance measurements are performed, x of them use an optically coded laser beam, and y of them use a laser beam that has not been optically coded, x+y=m; wherein each of the x distance measurements undergoes z optical coding, then the number of received echo signals is x*z+y+n, where n is the number of interference signals received.

[0065] S102: adjusting the optical coding frequency from a first optical coding frequency to a second optical coding frequency according to the occurrence frequency of the interference signal in the echo signal set, where the second optical coding frequency is greater than or less than the first optical coding frequency.

[0066] Specifically, if the interference signal occurs frequently, the second optical coding frequency is greater than the first optical coding frequency to reduce interference caused by the external environment;

[0067] If the interference signal occurs at a low frequency, the second optical coding frequency is lower than the first optical coding frequency, and when the external environment has a low degree of interference with the laser, unnecessary loss of the laser radar is reduced.

[0068] S103: Optically encode the laser beam of the laser based on the second optical coding frequency, and emit the laser beam through the laser.

[0069] Specifically, the laser beam of the laser is time-coded or energy-coded based on the second optical coding frequency to achieve optical coding of the laser beam; then the optically coded laser beam and the laser beam that has not been optically coded are emitted by the laser.

[0070] The number of the optically encoded laser beams at the second optically encoded frequency is greater than or less than the number of the optically encoded laser beams at the first optically encoded frequency.

[0071] For example, at a certain scanning angle of a laser, the first optical coding frequency is to optically encode the laser beam every 2 turns and pass through the scanning angle twice, that is, the laser rotates 1 turn, passes through the scanning angle, and transmits the laser beam and receives the echo signal. The laser rotates 2 turns and passes through the scanning angle again, optically encodes the laser beam of the laser, transmits the optically coded laser beam and receives the echo signal, and so on. After a preset time, the received echo signals are integrated into the echo signal set, and then the optical coding frequency is adjusted from the first optical coding frequency to the second optical coding frequency according to the frequency of the interference signal in the echo signal set. frequency, the second optical encoding frequency is greater than the first optical encoding frequency, and is adjusted to optically encode the laser beam every 4 rotations and 4 times through the scanning angle, that is, the laser rotates 1 circle, passes through the scanning angle, and emits a laser beam and receives an echo signal through the laser. The laser rotates 2 circles, passes through the scanning angle again, and emits a laser beam and receives an echo signal through the laser. The laser rotates 3 circles, passes through the scanning angle again, and emits a laser beam and receives an echo signal through the laser. The laser rotates 4 circles, passes through the scanning angle again, and optically encodes the laser beam of the laser, emits an optically coded laser beam and receives an echo signal through the laser, and so on.

[0072] It is understandable that this method can be adjusted when the laser radar is powered on, when the position of the laser radar changes, or when user needs change.

[0073] This embodiment performs optical encoding on the laser beam of the laser based on the first optical coding frequency within a preset time period for each scanning angle of each of the lasers, and after the laser beam is emitted by the laser, an echo signal is received to obtain an echo signal set; according to the frequency of occurrence of interference signals in the echo signal set, the optical coding frequency is adjusted from the first optical coding frequency to a second optical coding frequency, where the second optical coding frequency is greater than or less than the first optical coding frequency; the laser beam of the laser is optically encoded based on the second optical coding frequency, and the laser beam is emitted by the laser, so that the optical coding frequency of the laser can be adjusted in time according to environmental conditions, while ensuring the anti-interference capability of the laser radar, reducing unnecessary loss of the laser radar, avoiding excessive power consumption of the laser radar, and reducing the overall temperature of the laser radar, thereby improving the performance and service life of the laser radar.

[0074] In another embodiment, after emitting the laser beam by the laser, the method further comprises:

[0075] Acquire and store the filter element echo signal.

[0076] Specifically, scanning is performed in an area without a target object or after the laser beam passes through the filter element, the received echo signal is used as the filter element echo signal, and then the filter element echo signal is stored.

[0077] After receiving the echo signal to obtain the echo signal set, the method further includes:

[0078] For each echo signal, the echo signal is subtracted from the filter element echo signal to obtain an echo signal excluding the filter element echo signal.

[0079] This embodiment obtains and stores the filter element echo signal, and for each echo signal, subtracts the echo signal from the filter element echo signal to obtain an echo signal excluding the filter element echo signal, thereby removing the filter element echo signal from the echo signal and providing an accurate echo signal for subsequent operations.

[0080] Figure 2 FIG. 1 is a flow chart of a method for adjusting a laser radar according to another embodiment of the present invention. As an example and not as a limitation, Figure 2 As shown, adjusting the optical coding frequency from the first optical coding frequency to the second optical coding frequency according to the occurrence frequency of the interference signal in the echo signal set includes:

[0081] S201: If an interference signal is identified in the echo signal set, the interference signal is identified to obtain at least one interference signal identification information.

[0082] Specifically, the interference signal is identified based on the time coding, or the interference signal is identified based on the energy coding; and after the interference signal is identified, the interference signal is identified, thereby obtaining at least one interference signal identification information.

[0083] S202: Calculate the occurrence frequency of the interference signal according to the interference signal identification information.

[0084] Specifically, according to the interference signal identification information, the number of occurrences of the interference signal is determined

[0085] Calculate the frequency of interference signal occurrence based on the number of occurrences of the interference signal and the number of optical coding ranging times of the laser;

[0086] The number of optical coding ranging times of the laser is the number of times the laser performs ranging through the optical coding laser beam within a preset time period.

[0087] For example, at a certain scanning angle, within a preset time, the laser performs 20 ranging times, of which 10 times are performed using an optically coded laser beam, that is, the number of optically coded ranging times of the laser is 10 times; based on the interference signal identification information, the number of occurrences of the interference signal is determined to be 3; then, based on the number of occurrences of the interference signal and the number of optically coded ranging times of the laser, the frequency of occurrence of the interference signal is calculated to be 3 / 10.

[0088] S203: If the frequency of occurrence of the interference signal is greater than or equal to the first preset frequency, increase the optical coding frequency according to a preset increment to adjust it to a second optical coding frequency.

[0089] Among them, the first preset frequency and the preset increase number can be set according to the actual usage scenario and hardware.

[0090] When the frequency of the interference signal is greater than or equal to the first preset frequency, it means that the frequency of the interference signal is high, the external environment interferes with the laser to a large extent, and the optical coding frequency needs to be increased. The optical coding frequency is increased according to the preset increase number to reduce the interference degree of the external environment on the laser, that is, to improve the anti-interference ability of the laser, and at the same time will not cause excessive loss.

[0091] S204: If the frequency of occurrence of the interference signal is less than or equal to the second preset frequency, the optical coding frequency is reduced according to a preset reduction value to adjust to the second optical coding frequency.

[0092] The second preset frequency and the preset reduction number can be set according to actual usage scenarios and hardware.

[0093] When the frequency of the interference signal is less than or equal to the second preset frequency, it means that the frequency of the interference signal is low, and the external environment has a small degree of interference on the laser. Continuing to perform optical encoding based on the current optical encoding frequency will cause unnecessary losses. Therefore, the optical encoding frequency is reduced according to the preset reduction number, thereby ensuring the anti-interference ability of the laser and avoiding unnecessary losses.

[0094] This embodiment identifies the interference signal if an interference signal is identified in the echo signal set, obtains at least one interference signal identification information, and calculates the frequency of occurrence of the interference signal based on the interference signal identification information; if the frequency of occurrence of the interference signal is greater than or equal to the first preset frequency, the optical coding frequency is increased according to a preset increase number to adjust to the second optical coding frequency; if the frequency of occurrence of the interference signal is less than or equal to the second preset frequency, the optical coding frequency is reduced according to a preset decrease number to adjust to the second optical coding frequency, thereby accurately knowing the degree of interference of the external environment on the laser based on the frequency of occurrence of the interference signal, thereby accurately adjusting the optical coding frequency of the laser, further ensuring the anti-interference capability of the laser radar, and reducing unnecessary losses of the laser radar, thereby avoiding excessive power consumption of the laser radar.

[0095] In another embodiment, the method further comprises:

[0096] First, for each echo signal in the echo signal set, if no peak value of the echo signal is detected, a sampling point whose sampling value is greater than a preset threshold is identified in the echo signal.

[0097] Among them, due to the acquisition amplitude limitation of the hardware itself, if the sampling value in the echo signal exceeds the acquisition amplitude of the hardware, the final output value of the sampling point where the sampling value exceeds the acquisition amplitude of the hardware is equal to the acquisition amplitude, which makes the echo signal lack the waveform containing the peak, and the peak of the echo signal cannot be detected. In this case, the peak of the echo signal cannot be obtained, and a waveform containing the peak needs to be fitted so that the peak of the echo signal can be collected.

[0098] Specifically, if the peak value of the echo signal cannot be detected, the echo signal is sampled and a sampling point whose sampling value is greater than a preset threshold is identified.

[0099] Next, the sampling points whose sampling values ​​are greater than a preset threshold are fitted to obtain an echo signal containing a peak value.

[0100] For example, the fitting method may be a least square method or an interpolation fitting method, so as to fit the curve and obtain an echo signal containing a peak.

[0101] Then, the peak time is calculated based on the echo signal containing the peak.

[0102] The peak time is the time between the moment of emitting the laser beam and the sampling moment of the corresponding peak.

[0103] Finally, the distance of the echo signal corresponding to the peak is calculated based on the peak time.

[0104] This embodiment targets each echo signal in the echo signal set. If no peak value of the echo signal is detected, sampling points with sampling values ​​greater than a preset threshold value are identified in the echo signal; the sampling points with sampling values ​​greater than the preset threshold value are fitted to obtain an echo signal containing a peak value; the peak time is calculated based on the echo signal containing the peak value; and the distance corresponding to the echo signal containing the peak value is calculated based on the peak time to obtain an accurate peak time, thereby calculating an accurate distance.

[0105] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0106] Corresponding to the method described in the above embodiment, for the sake of convenience of explanation, only the part related to the embodiment of the present application is shown.

[0107] Figure 3 Schematic diagram of the structure of the device for adjusting the laser radar provided in the embodiment of the present application. As an example and not a limitation, Figure 3 As shown, the device includes:

[0108] an optical encoding module 10 for optically encoding the laser beam of each laser based on a first optical encoding frequency within a preset time period for each scanning angle of each laser;

[0109] for optically encoding a laser beam of a laser based on a second optical coding frequency;

[0110] A transmitting unit 11, configured to transmit a laser beam;

[0111] an acquisition unit 12, configured to receive an echo signal to obtain an echo signal set;

[0112] The optical coding strategy unit 13 is configured to adjust the optical coding frequency from a first optical coding frequency to a second optical coding frequency according to the occurrence frequency of interference signals in the echo signal set, where the second optical coding frequency is greater than or less than the first optical coding frequency.

[0113] In another embodiment, the optical coding strategy unit is specifically configured to identify the interference signal if an interference signal is identified in the echo signal set, and obtain at least one interference signal identification information;

[0114] Specifically used to calculate the frequency of occurrence of interference signals based on interference signal identification information;

[0115] Specifically, if the frequency of occurrence of the interference signal is greater than or equal to the first preset frequency, the optical coding frequency is increased according to a preset increment to adjust to the second optical coding frequency.

[0116] Specifically, if the frequency of occurrence of the interference signal is less than or equal to the second preset frequency, the optical coding frequency is reduced according to a preset reduction number to adjust to the second optical coding frequency.

[0117] In another embodiment, the apparatus further comprises a correction unit;

[0118] The acquisition unit is further used to acquire and store the echo signal of the filter element.

[0119] The correction unit is used for subtracting the echo signal from the filter element echo signal for each echo signal to obtain an echo signal that does not contain the filter element echo signal.

[0120] In another embodiment, the optical coding strategy unit is specifically configured to calculate the number of occurrences of the interference signal based on the interference signal identification information;

[0121] Calculate the frequency of interference signal occurrence based on the number of occurrences of the interference signal and the number of optical coding ranging times of the laser;

[0122] The number of optical coding ranging times of the laser is the number of times the laser performs ranging through the optical coding laser beam within a preset time period.

[0123] In another embodiment, the apparatus further comprises:

[0124] A peak fitting unit is used to identify, for each echo signal in the echo signal set, a sampling point whose sampling value is greater than a preset threshold in the echo signal if no peak of the echo signal can be detected;

[0125] Used to fit the sampling points whose sampling values ​​are greater than the preset threshold to obtain the echo signal containing the peak;

[0126] A distance calculation unit, used for calculating the peak time according to the echo signal containing the peak;

[0127] Used to calculate the distance of the echo signal containing the peak based on the peak time.

[0128] Figure 4 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. Figure 4 As shown, the electronic device 2 of this embodiment includes: at least one processor 20 ( Figure 4 Only one is shown), a memory 21 and a computer program 22 stored in the memory 21 and executable on the at least one processor 20, wherein the processor 20 implements the steps of any of the above-mentioned method embodiments when executing the computer program 22.

[0129] The electronic device 2 may be a radar device such as a laser radar. The electronic device 2 may include, but is not limited to, a processor 20 and a memory 21. Those skilled in the art will understand that Figure 4 This is merely an example of the electronic device 2 and does not constitute a limitation on the electronic device 2 . The electronic device 2 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 2 may also include input and output devices, network access devices, etc.

[0130] The processor 20 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0131] In some embodiments, the memory 21 may be an internal storage unit of the electronic device 2, such as a hard disk or memory of the electronic device 2. In other embodiments, the memory 21 may also be an external storage device of the electronic device 2, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 2. Furthermore, the memory 21 may also include both an internal storage unit of the electronic device 2 and an external storage device. The memory 21 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 21 may also be used to temporarily store data that has been output or is to be output.

[0132] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0133] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0134] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0135] An embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device can implement the steps of the above-mentioned method embodiments when executing the computer program product.

[0136] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process of the above-mentioned method embodiment by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can at least include: any entity or device capable of carrying computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, mobile hard drive, magnetic disk, or optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals or telecommunication signals.

[0137] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0138] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0139] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0140] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0141] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for adjusting a laser radar, wherein the laser radar comprises at least one laser, characterized in that: include: For each scanning angle of each laser, optically encode the laser beam of the laser based on the first optical coding frequency within a preset time period, and after the laser beam is emitted by the laser, receive the echo signal to obtain an echo signal set; adjusting the optical coding frequency from a first optical coding frequency to a second optical coding frequency according to the frequency of occurrence of the interference signal in the echo signal set, so as to adjust the number of laser rotations corresponding to one encoding of the laser beam at each scanning angle, wherein the second optical coding frequency is greater than or less than the first optical coding frequency; The laser beam of the laser is optically encoded based on the second optical encoding frequency and emitted by the laser.

2. The method according to claim 1, wherein The adjusting the optical coding frequency from the first optical coding frequency to the second optical coding frequency according to the occurrence frequency of the interference signal in the echo signal set includes: If an interference signal is identified in the echo signal set, identifying the interference signal to obtain at least one interference signal identification information; Calculating the occurrence frequency of the interference signal according to the interference signal identification information; If the frequency of occurrence of the interference signal is greater than or equal to the first preset frequency, increasing the optical coding frequency by a preset increment to adjust to the second optical coding frequency; If the occurrence frequency of the interference signal is less than or equal to the second preset frequency, the optical coding frequency is reduced according to a preset reduction number to adjust to the second optical coding frequency.

3. The method according to claim 2, wherein The calculating the occurrence frequency of the interference signal according to the interference signal identification information includes: Calculating the number of occurrences of the interference signal according to the interference signal identification information; Calculating the frequency of occurrence of the interference signal according to the number of occurrences of the interference signal and the number of optical coding ranging of the laser; The number of optical coding ranging times of the laser is the number of times the laser performs ranging through the optical coding laser beam within a preset time period.

4. The method according to claim 1, wherein Also includes: For each echo signal in the echo signal set, if no peak value of the echo signal is detected, identifying a sampling point in the echo signal whose sampling value is greater than a preset threshold; Fitting the sampling points whose sampling values ​​are greater than a preset threshold to obtain an echo signal containing a peak value; Calculating the peak time according to the echo signal containing the peak; The distance corresponding to the echo signal containing the peak is calculated according to the peak time.

5. A device for adjusting a laser radar, characterized in that: include: an optical coding module, configured to optically encode the laser beam of each laser based on a first optical coding frequency within a preset time period for each scanning angle of each laser; for optically encoding a laser beam of the laser based on a second optical coding frequency; a transmitting unit, for transmitting a laser beam; an acquisition unit, configured to receive an echo signal to obtain an echo signal set; an optical coding strategy unit, configured to adjust the optical coding frequency from a first optical coding frequency to a second optical coding frequency according to the frequency of occurrence of the interference signal in the echo signal set, so as to adjust the number of laser rotations corresponding to one encoding of the laser beam at each scanning angle, wherein the second optical coding frequency is greater than or less than the first optical coding frequency.

6. The device according to claim 5, characterized in that: an optical coding strategy unit, specifically configured to identify an interference signal if an interference signal is identified in the echo signal set, and obtain at least one interference signal identification information; Specifically used to calculate the occurrence frequency of the interference signal according to the interference signal identification information; Specifically configured to increase the optical coding frequency by a preset increment to adjust to the second optical coding frequency if the occurrence frequency of the interference signal is greater than or equal to the first preset frequency; Specifically, if the occurrence frequency of the interference signal is less than or equal to a second preset frequency, the optical coding frequency is reduced according to a preset reduction number to adjust to the second optical coding frequency.

7. The device according to claim 6, characterized in that: an optical coding strategy unit, specifically configured to calculate the number of occurrences of the interference signal according to the interference signal identification information; Specifically used to calculate the frequency of occurrence of the interference signal according to the number of occurrences of the interference signal and the number of optical coding ranging of the laser; The number of optical coding ranging times of the laser is the number of times the laser performs ranging through the optical coding laser beam within a preset time period.

8. The device according to claim 5, wherein Also includes: a peak fitting unit, configured to, for each echo signal in the echo signal set, identify a sampling point in the echo signal having a sampling value greater than a preset threshold if no peak value of the echo signal is detected; Used to fit the sampling points whose sampling values ​​are greater than a preset threshold to obtain an echo signal containing a peak; a distance calculation unit, configured to calculate a peak time based on the echo signal containing a peak; Used to calculate the distance corresponding to the echo signal containing the peak according to the peak time.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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